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Adding ICS CAN FD support #408

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Merged
felixdivo merged 4 commits into from
Sep 13, 2018
Merged

Adding ICS CAN FD support #408

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a02d764
Adding ICS CAN FD support
pierreluctg Sep 6, 2018
15feb31
Merge branch 'develop' into ics-can-fd
pierreluctg Sep 7, 2018
f839e2f
Merge branch 'develop' into ics-can-fd
pierreluctg Sep 13, 2018
1cfe88b
Rename FD argument to be consistent with other interfaces
pierreluctg Sep 13, 2018
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94 changes: 73 additions & 21 deletions can/interfaces/ics_neovi/neovi_bus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
"""
ICS NeoVi interface module.

python-ics is a Python wrapper around the API provided by Intrepid Control
python-ics is a Python wrapper around the API provided by Intrepid Control
Systems for communicating with their NeoVI range of devices.

Implementation references:
Expand Down Expand Up @@ -74,7 +74,6 @@ def __init__(self, channel, can_filters=None, **config):
The Channel id or name to create this bus with.
:param list can_filters:
See :meth:`can.BusABC.set_filters` for details.

:param use_system_timestamp:
Use system timestamp for can messages instead of the hardware time
stamp
Expand All @@ -84,6 +83,11 @@ def __init__(self, channel, can_filters=None, **config):
:param int bitrate:
Channel bitrate in bit/s. (optional, will enable the auto bitrate
feature if not supplied)
:param bool fd:
If CAN-FD frames should be supported.
:param int data_bitrate:
Which bitrate to use for data phase in CAN FD.
Defaults to arbitration bitrate.
"""
if ics is None:
raise ImportError('Please install python-ics')
Expand Down Expand Up @@ -115,6 +119,12 @@ def __init__(self, channel, can_filters=None, **config):
if 'bitrate' in config:
ics.set_bit_rate(self.dev, config.get('bitrate'), channel)

fd = config.get('fd', False)
if fd:
if 'data_bitrate' in config:
ics.set_fd_bit_rate(
self.dev, config.get('data_bitrate'), channel)

self.channel_info = '%s %s CH:%s' % (
self.dev.Name,
self.get_serial_number(self.dev),
Expand Down Expand Up @@ -222,19 +232,49 @@ def _get_timestamp_for_msg(self, ics_msg):
return ics.get_timestamp_for_msg(self.dev, ics_msg)

def _ics_msg_to_message(self, ics_msg):
return Message(
timestamp=self._get_timestamp_for_msg(ics_msg),
arbitration_id=ics_msg.ArbIDOrHeader,
data=ics_msg.Data[:ics_msg.NumberBytesData],
dlc=ics_msg.NumberBytesData,
extended_id=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME
),
is_remote_frame=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME
),
channel=ics_msg.NetworkID
)
is_fd = ics_msg.Protocol == ics.SPY_PROTOCOL_CANFD

if is_fd:
if ics_msg.ExtraDataPtrEnabled:
data = ics_msg.ExtraDataPtr[:ics_msg.NumberBytesData]
else:
data = ics_msg.Data[:ics_msg.NumberBytesData]

return Message(
timestamp=self._get_timestamp_for_msg(ics_msg),
arbitration_id=ics_msg.ArbIDOrHeader,
data=data,
dlc=ics_msg.NumberBytesData,
extended_id=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME
),
is_fd=is_fd,
is_remote_frame=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME
),
error_state_indicator=bool(
ics_msg.StatusBitField3 & ics.SPY_STATUS3_CANFD_ESI
),
bitrate_switch=bool(
ics_msg.StatusBitField3 & ics.SPY_STATUS3_CANFD_BRS
),
channel=ics_msg.NetworkID
)
else:
return Message(
timestamp=self._get_timestamp_for_msg(ics_msg),
arbitration_id=ics_msg.ArbIDOrHeader,
data=ics_msg.Data[:ics_msg.NumberBytesData],
dlc=ics_msg.NumberBytesData,
extended_id=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME
),
is_fd=is_fd,
is_remote_frame=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME
),
channel=ics_msg.NetworkID
)

def _recv_internal(self, timeout=0.1):
if not self.rx_buffer:
Expand All @@ -249,19 +289,31 @@ def _recv_internal(self, timeout=0.1):
def send(self, msg, timeout=None):
if not ics.validate_hobject(self.dev):
raise CanError("bus not open")
message = ics.SpyMessage()

flags = 0
flag0 = 0
if msg.is_extended_id:
flags |= ics.SPY_STATUS_XTD_FRAME
flag0 |= ics.SPY_STATUS_XTD_FRAME
if msg.is_remote_frame:
flags |= ics.SPY_STATUS_REMOTE_FRAME
flag0 |= ics.SPY_STATUS_REMOTE_FRAME

flag3 = 0
if msg.is_fd:
message.Protocol = ics.SPY_PROTOCOL_CANFD
if msg.bitrate_switch:
flag3 |= ics.SPY_STATUS3_CANFD_BRS
if msg.error_state_indicator:
flag3 |= ics.SPY_STATUS3_CANFD_ESI

message = ics.SpyMessage()
message.ArbIDOrHeader = msg.arbitration_id
message.NumberBytesData = len(msg.data)
message.Data = tuple(msg.data)
message.StatusBitField = flags
message.Data = tuple(msg.data[:8])
if msg.is_fd and len(msg.data) > 8:
message.ExtraDataPtrEnabled = 1
message.ExtraDataPtr = tuple(msg.data)
message.StatusBitField = flag0
message.StatusBitField2 = 0
message.StatusBitField3 = flag3
message.NetworkID = self.network

try:
Expand Down